End effector for harvesting

ABSTRACT

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.

BACKGROUND OF THE INVENTION

Robotic systems are being used to harvest crops to reduce labor costsassociated with harvesting crops. These robotic systems may include anend effector that is designed to remove a crop from its environment.Although labor costs may be reduced by implementing a robotic system,the end effector may damage a crop when the crop is removed from itsenvironment. For example, an end effector may include a plurality ofdigits that are used to grab and twist a piece of fruit from a vine.This grabbing and twisting motion may accidentally damage the piece offruit. As a result, the labor cost savings from the robotic systems areoffset by losses due to damaged crops. Better end effectors are neededto efficiently harvest crops.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the invention are disclosed in the followingdetailed description and the accompanying drawings.

FIG. 1A is a diagram illustrating a side view of an end effector inaccordance with some embodiments.

FIG. 1B is a diagram illustrating a top-down view of an end effector inaccordance with some embodiments.

FIG. 1C is a diagram illustrating a top-down view of a cutting mechanismand a gripping mechanism in accordance with some embodiments.

FIG. 2A is a diagram illustrating a side view of an end effector inaccordance with some embodiments.

FIG. 2B is a diagram illustrating a top-down view of an end effector inaccordance with some embodiments.

FIG. 2C is a diagram illustrating a top-down view of a cutting mechanismand a gripping mechanism in accordance with some embodiments.

FIG. 3A is a diagram illustrating a side view of an end effector inaccordance with some embodiments.

FIG. 3B is a diagram illustrating a top-down view of an end effector inaccordance with some embodiments.

FIG. 3C is a diagram illustrating a top-down view of a cutting mechanismand a gripping mechanism in accordance with some embodiments.

DETAILED DESCRIPTION

The invention can be implemented in numerous ways, including as aprocess; an apparatus; a system; a composition of matter. In thisspecification, these implementations, or any other form that theinvention may take, may be referred to as techniques. In general, theorder of the steps of disclosed processes may be altered within thescope of the invention.

A detailed description of one or more embodiments of the invention isprovided below along with accompanying figures that illustrate theprinciples of the invention. The invention is described in connectionwith such embodiments, but the invention is not limited to anyembodiment. The scope of the invention is limited only by the claims andthe invention encompasses numerous alternatives, modifications andequivalents. Numerous specific details are set forth in the followingdescription in order to provide a thorough understanding of theinvention. These details are provided for the purpose of example and theinvention may be practiced according to the claims without some or allof these specific details. For the purpose of clarity, technicalmaterial that is known in the technical fields related to the inventionhas not been described in detail so that the invention is notunnecessarily obscured.

An end effector for cutting an appendage of a plant is disclosed. Theend effector is comprised of a cutting mechanism and a grippingmechanism. The cutting mechanism and the gripping mechanism includecorresponding sets of jaws. The end effector is configured to open andclose, in parallel, the cutting mechanism and the gripping mechanism.The plant may include an appendage (e.g., stem, vine, branch, stalk,etc.) and an object to be harvested (e.g., flower, piece of fruit, etc.)When the cutting mechanism and gripping mechanism are open, an appendageof the plant may be placed in an opening associated with thecorresponding sets of jaws. An actuator associated with the end effectormay apply a force that causes the cutting mechanism and the grippingmechanism to close. The applied force may cause the cutting mechanism toperform a bypass cut that splits the plant appendage into a firstportion and a second portion while the applied force causes the grippingmechanism to grasp the second portion of the plant appendage that iscoupled to the object to be harvested. As a result, the end effector isable to remove the harvested object from the plant without damaging theharvested object.

FIGS. 1A, 1B are diagrams illustrating a side view and a top-down viewof an end effector, respectively, in accordance with some embodiments.In the example shown, end effector 100 includes cutting mechanism 102and a gripping mechanism 104.

Cutting mechanism 102 includes a cutting set of jaws. In someembodiments, the cutting set of jaws is an anvil-style cuttingmechanism. In some embodiments, the cutting set of jaws is abypass-style cutting mechanism. In some embodiments, the cutting set ofjaws is a flush style cutting mechanism.

Gripping mechanism 104 includes a gripping set of jaws. In someembodiments, the gripping set of jaws is a plier-style grippingmechanism. In some embodiments, the gripping set of jaws includesvaryingly shaped textures or teeth. In some embodiments, the grippingset of jaws are flat and tapered.

Cutting mechanism 102 and gripping mechanism 104 are mechanicallycoupled to each other via a coupling mechanism, which may include pivotcomponent 106. Pivot component 106 may be a pin, a screw, a bolt, afastener, a dowel, a peg, etc. Cutting mechanism 102 is coupled to afirst portion of pivot component 106 and gripping mechanism 104 iscoupled to a second portion of pivot component 106. The first portion isa top portion of pivot component 106 and the second portion is a bottomportion of pivot component 106. For example, end effector 100 may beused to remove a piece of fruit that is hanging from a vine. When endeffector 100 is used to remove the piece of fruit, cutting mechanism 102may cut the vine while the gripping mechanism grasps the part of thevine attached to the fruit, which prevents the fruit from falling to theground and potentially being damaged. In some embodiments, the firstportion is a bottom portion of pivot component 106 and the secondportion is a top portion of pivot component 106. For example, endeffector 100 may be used to harvest a flower. When end effector 100 isused to harvest a flower, cutting mechanism 102 may cut the flower froma bottom portion of a stem while the gripping mechanism grasps the partof the stem attached to the flower, which prevents the fruit fromfalling to the ground and potentially being damaged. In someembodiments, pivot component 106 is comprised of two pivot components.The two pivot components may be staggered such that a first pivotcomponent associated with cutting mechanism 102 does not overlap with asecond pivot component associated with gripping mechanism 104. In someembodiments, cutting mechanism 102 and gripping mechanism 104 arecoupled to each other via a different coupling mechanism, such as alinear coupling with an angled block and return springs.

End effector 100 includes an actuation connection structure 114 that isconfigured to open and close, in parallel, cutting mechanism 102 andgripping mechanism 104. Actuation connection structure 114 may include astraight portion 113 and a loop portion 108. Actuation connectionstructure 114 may be a wire form, an assembly of a mold or machined partand a metal pin, or other rigid material, such as a plastic, a polymer,a composite material, or any other type of rigid material that iscapable of withstanding a force from actuator 118 when cutting mechanism102 and gripping mechanism 104 are opened and closed.

Cutting mechanism 102 and gripping mechanism 104 include correspondingslot openings (shown in FIGS. 1B and 1B). The slot openings may beangled slot openings (same angle or different angle), straight slotopenings, curved slot openings, or follow a compound path. Loop portion108 of actuation connection structure 114 may be interlocked withcutting mechanism 102 and gripping mechanism 104 via the correspondingslot openings. The slot openings associated with cutting mechanism 102and the slot openings associated with gripping mechanism 104 havedifferent widths. The slot opening width associated with grippingmechanism 104 is wider than the slot opening width associated withcutting mechanism 102. In some embodiments, the slot opening widthassociated with cutting mechanism 102 is the width of the loop portion108 of actuation connection structure 114. In some embodiments, the slotopening width associated with cutting mechanism 102 is wider than awidth of the loop portion 108 of actuation connection structure 114 by athreshold amount (e.g., 2 mm), but narrower than a slot opening widthassociated with gripping mechanism 104.

In some embodiments, actuation connection structure 114 includes astraight portion 113 that is coupled to an inclined ramp that can bepulled or pushed upon. In some embodiments, actuation connectionstructure 114 includes a straight portion 113 and a screw mechanism thatis capable of being rotated through the straight portion 113. Therotation of the screw mechanism applies a force that causes cuttingmechanism 102 and gripping mechanism 104 to open or close, in parallel.

End effector 100 includes a bias mechanism 110. In some embodiments,bias mechanism 110 is an axial spring that surrounds actuationconnection structure 114. In some embodiments, bias mechanism 110 is anangular spring around a rotating mechanism. In some embodiments, biasmechanism 110 is a compliant mechanism, elastomeric, or otherwise.

The bias mechanism may be placed between a proximal end of loop portion108 and a proximal end of bias limiting component 112. Bias limitingcomponent 112 may be an L-shaped structure. The proximal end of biaslimiting component 112 may include a U-shaped opening that enables it tobe attached to actuation connection structure 114. The proximal end ofbias limiting component 112 is coupled to a first end of bias mechanism110. The distal end of bias limiting component 112 is coupled to theslot opening associated with gripping mechanism 104 via a knob feature120. Bias limiting component 112 includes a groove portion 115 thatenables loop portion 108 to pass through bias limiting component 112. Inthis example, the groove portion 115 is U-shaped.

End effector 100 includes a housing 116. Housing 116 may be long narrowmechanical segment that enables cutting mechanism 102 and grippingmechanism 104 to get close to a point of cutting without disturbing theparts of a plant, other fruit, flowers, or other mechanical aspects of agrow. In some embodiments, housing 116 is a hollow tube. In someembodiments, housing 116 is a long extrusion of alternative crosssection. In some embodiments, housing 116 is an external mechanicalskeleton that is not an extrusion. Housing 116 may surround actuationconnection structure 114, bias mechanism 110, bias limiting component112, a proximal end of cutting mechanism 102, and a proximal end ofgripping mechanism 104.

End effector 100 includes actuator 118. In some embodiments, actuator118 is a servo motor, a stepper motor, or any other type ofelectromagnetic motor. In some embodiments, actuator 118 is a pneumaticmotor, hydraulic motor, or any other type of rotational actuator. Insome embodiments, actuator 118 is a linear actuator powered bypneumatics, electromagnetics, or hydraulics. In some embodiments,actuator 118 applies a force that causes cutting mechanism 102 andgripping mechanism 104 to open in parallel. In some embodiments,actuator 118 applies the force after an appendage of a plant is cut intotwo portions and a harvested object is placed in a tray or bin forstorage.

Actuator 118 applies the force prior to attempting to harvest an objectfrom a plant. In some embodiments, the applied force causes cuttingmechanism 102 and gripping mechanism 104 to open a particular amount.For example, the end effector may be used harvest a plurality of hangingfruit that are proximally located in a grow environment. The distancebetween the vines associated with the plurality of hanging fruit mayvary. When attempting to harvest a particular fruit, actuator 118 maycause cutting mechanism 102 and gripping mechanism 104 to open aparticular amount instead of fully opening cutting mechanism 102 andgripping mechanism 104 to avoid accidentally disturbing and potentiallydamaging other plants, fruits, vines, flowers, etc. that are located inthe grow.

In some embodiments, actuator 118 applies a force that causes cuttingmechanism 102 and gripping mechanism 104 to close in parallel. In someembodiments, in response to feedback that the appendage of a plant hasnot been completely severed, actuator 118 applies an additional forcethat causes cutting mechanism 102 to apply more force to the appendage.The additional force, as described herein, does not cause grippingmechanism 104 to apply more force to the appendage.

In some embodiments, end effector 100 remains in a closed state after anobject is harvested and is changed to an open state prior to an attemptto harvest a next object from a plant. In some embodiments, end effector100 changes to an open state after an object is harvested in order torelease it into a storage location.

FIG. 1B is a diagram illustrating a top-down view of an end effector inaccordance with some embodiments. In the example shown, end effector 150includes a cutting mechanism 102, a gripping mechanism 14, and a pivotcomponent 106. Cutting mechanism 102 includes slot openings 122 andgripping mechanism 104 includes slot openings 124. Loop portion 108 ofactuation connection structure 114 is interlocked with slot openings 122and slot openings 124.

FIG. 1C is a diagram illustrating a top-down view of a cutting mechanismand a gripping mechanism in accordance with some embodiments. In theexample shown, cutting mechanism 102 includes slot openings 122. Theloop portion 108 of actuation connection structure 114 is interlockedwith slot openings 122 and slot openings 124. Gripping mechanism 104includes slot openings 124. The knob feature 120 of bias limitingcomponent 112 is coupled to slot openings 124. Bias limiting component115 includes a groove portion that allows loop portion 108 of actuationconnection structure 114 to pass through slot openings 124.

The slot openings associated with cutting mechanism 102 and the slotopenings associated with gripping mechanism 104 have different widths.The slot opening width associated with gripping mechanism 104 is widerthan the slot opening width associated with cutting mechanism 102. Insome embodiments, the slot opening width associated with cuttingmechanism 102 is the width of actuation connection structure 114. Insome embodiments, the slot opening width associated with cuttingmechanism 102 is wider than a width of actuation connection structure114 by a threshold amount (e.g., 2 mm), but narrower than a slot widthassociated with gripping mechanism 104.

FIGS. 2A, 2B are diagrams illustrating an embodiment of a side view anda top-down view of an end effector, respectively. In the example shown,end effector 200 is in an open state. Cutting mechanism 102 and grippingmechanism 104 are both in an open position. An appendage 202 is placedin an opening 204.

In some embodiments, end effector 200 is in a closed position, forexample, as seen in FIGS. 1A-1C. To open end effector 200, actuator 118may apply a force to actuation connection structure 114. For example,the applied force may push actuation connection structure 114 towards adistal end of end effector 200. The applied force may cause the loopportion 108 to move from a proximal end of the slot openings associatedwith cutting mechanism 102 and gripping mechanism 104 towards a distalend of the slot openings associated with cutting mechanism 102 andgripping mechanism 104. The loop portion 108 of actuation connectionstructure 114 may transfer the applied force to slot openings associatedwith cutting mechanism 102 and gripping mechanism 104. The loop portion108 of actuation connection structure 114 is interlocked with the slotopenings associated with cutting mechanism 102 and gripping mechanism104. As a result, the force applied to the slot openings associated withcutting mechanism 102 and gripping mechanism 104 causes the jaws ofcutting mechanism 102 and gripping mechanism 104 to rotate open, inparallel, around pivot component 106. The degree to which the jaws ofcutting mechanism 102 and gripping mechanism 104 open is based on theamount of force applied by actuator 118.

In other embodiments, actuation connection structure 114 is rigid atdistal portion (e.g., the tip) and includes a spring (not shown) that iscoupled to a cable. In response to the cable being pulled, the spring isconfigured to push the distal end, which causes cutting mechanism 102and gripping mechanism 104 to close. In response to the cable beingreleased, the spring causes cutting mechanism 102 and gripping mechanismto open.

FIG. 2C is a diagram illustrating an embodiment of a top-down view of acutting mechanism and a gripping mechanism. In the example shown,cutting mechanism 102 and gripping mechanism 104 are both in an openposition. An appendage 202 is placed in an opening associated withcutting mechanism 102 and an opening associated with gripping mechanism104. The loop portion 108 of actuation connection structure 114 islocated at a distal end of the slot openings 122, 124.

FIGS. 3A, 3B are diagrams illustrating an embodiment of a side view anda top-down view of an end effector, respectively. In the examples shown,the end effector 300 is in a closed state.

In one embodiment, end effector 300 is in an open position, for example,as seen in FIGS. 2A-2C. To close the end effector 300, actuator 118applies a force to actuation connection structure 114. For example, theapplied force pulls actuation connection structure 114 towards aproximal end of the end effector. The applied force causes the loopportion 108 of actuation connection structure 114 to move from a distalend of the slot openings associated with cutting mechanism 102 andgripping mechanism 104 towards a proximal end of the slot openingsassociated with cutting mechanism 102 and gripping mechanism 104. In theexample shown, loop portion 108 has moved a distance 304.

The loop portion 108 of actuation connection structure 114 transfers theapplied force to slot openings associated with cutting mechanism 102 andgripping mechanism 104. The loop portion 108 of actuation connectionstructure 114 is interlocked with the slot openings associated withcutting mechanism 102 and gripping mechanism 104. The width of slotopenings 122 associated with cutting mechanism 102 may be the width ofloop portion 108 of actuation connection structure 114. As a result ofthis configuration, the force applied to the slot openings associatedwith cutting mechanism 102 and gripping mechanism causes the jaws ofcutting mechanism 102 and gripping mechanism 104 to rotate closed, inparallel, around pivot component 106. The applied force initially causesgripping mechanism 104 to grip appendage 202.

The applied force initially causes gripping mechanism 104 to gripappendage 202. As more force is applied, the applied force causescutting mechanism 102 to perform a bypass cut of appendage 202, whichcauses appendage 202 to split into a first portion 302 a and a secondportion 302 b. The amount of force with which cutting mechanism 102applies to appendage 202 is proportional to the force applied byactuator 118.

The amount of force with which gripping mechanism 104 applies toappendage 202 is limited by bias component 110 and bias limitingcomponent 112. When placed in between a proximal end of bias limitingcomponent 112 and a proximal end of loop portion 108, bias component 110is preloaded with a particular amount of force. The preloaded force maybe a force that is unable to cut an appendage, regardless of theappendage diameter (e.g., 1 mm-1 cm). For example, bias component 110may be preloaded with 20 lbs. of force. In some embodiments, thepreloaded amount is within a threshold of the particular amount of force(e.g., ±5 lbs.).

When actuator 118 applies a force to actuation connection structure 114,the force causes bias component 110 to compress. The amount ofcompression experienced by bias component 110 is based on Hooke's law(F=kx²). The amount of force with which gripping mechanism 104 appliesto appendage may not exceed the preloaded amount of force within thethreshold amount. In the event the amount of force applied by actuator118 increases, the amount of force applied by gripping mechanism 104 toappendage 302 b does not exceed the preloaded amount of force within athreshold amount.

After end effector 300 cuts appendage 200 into a first portion 302 a anda second portion 302, a robotic arm coupled to end effector 300 may moveend effector 300 to a location at which the harvested object is stored.Actuator 118 applies a force that causes cutting mechanism 102 andgripping mechanism to open, for example as shown in FIGS. 2A, 2B. Theharvested object attached to the second portion 302 may be placed in atemporary storage location (e.g., bin, tray) associated with a roboticsystem that includes the robotic arm. As a result, the end effector isable to harvest an object from the plant without damaging the harvestedobject.

FIG. 3C is a diagram illustrating an embodiment of a top-down view of acutting mechanism and a gripping mechanism. In the example shown,cutting mechanism 102 and gripping mechanism 104 are both in a closedposition. Cutting mechanism 102 has split appendage 202 into a firstportion 302 a and a second portion 302 b. The first portion 302 a maystay attached to the plant after being separated from appendage 202while the second portion 302 b is grasped by gripping mechanism 104.

In the example shown, the loop portion 108 of actuation connectionstructure 114 is located at a proximal end of distal end of the slotopenings 122. The knob feature 120 of bias limiting mechanism 112 hasmoved from a distal end of slot openings 124 towards a proximal end ofslot openings 124, but has not fully moved towards the proximal end ofslot openings 124 because gripping mechanism 104 is grasping the secondportion 302 b of appendage 202. In the event gripping mechanism 104failed to grasp the second portion 302 b of appendage 202 after cuttingmechanism 102 split appendage 202, the knob feature 120 of biasmechanism completely moves towards the proximal end of slot openings,for example, as seen in FIG. 1C.

Although the foregoing embodiments have been described in some detailfor purposes of clarity of understanding, the invention is not limitedto the details provided. There are many alternative ways of implementingthe invention. The disclosed embodiments are illustrative and notrestrictive.

What is claimed is:
 1. An end effector, comprising: a cutting mechanismthat includes a cutting set of jaws; a gripping mechanism that includesa gripping set of jaws; a pivot component, wherein the cutting mechanismand the gripping mechanism are coupled to the pivot component, whereinthe cutting mechanism is coupled to a first portion of the pivotcomponent and the gripping mechanism is coupled to a second portion ofthe pivot component; a bias mechanism, wherein the bias mechanism iscoupled to the gripping mechanism; and an actuation connectionstructure, wherein the actuation connection structure includes astraight portion and a loop portion, wherein the bias mechanismsurrounds the straight portion of the actuation connection structure,wherein the loop portion of the actuation connection structure iscoupled to the cutting mechanism via slot openings associated with thecutting mechanism and coupled to the gripping mechanism via slotopenings associated with the gripping mechanism, wherein the loopportion is substantially perpendicular to the cutting mechanism and thegripping mechanism wherein a width of the slot openings associated withthe cutting mechanism is less than a width of the slot openingsassociated with the gripping mechanism.
 2. The end effector of claim 1,wherein the first portion is a top portion of the pivot component andthe second portion is a bottom portion of the pivot component.
 3. Theend effector of claim 1, wherein the first portion is a bottom portionof the pivot component and the second portion is a top portion of thepivot component.
 4. The end effector of claim 1, wherein the biasmechanism is configured to apply to the gripping mechanism a forcewithin a threshold amount.
 5. The end effector of claim 1, wherein thebias mechanism is a spring.
 6. The end effector of claim 1, wherein thebias mechanism is preloaded with a particular amount of force.
 7. Theend effector of claim 1, wherein the bias mechanism is coupled to a biaslimiting component.
 8. The end effector of claim 7, wherein the biaslimiting component includes a groove portion.
 9. The end effector ofclaim 1, wherein the actuation connection structure is coupled to anactuator.
 10. The end effector of claim 9, wherein in response to aforce from the actuator, the actuation connection structure isconfigured to open the cutting mechanism and the gripping mechanism. 11.The end effector of claim 10, wherein the actuator is configured to pushthe actuation connection structure towards a distal end of the endeffector.
 12. The end effector of claim 9, wherein in response to aforce from the actuator, the actuation connection structure isconfigured to close the cutting mechanism and the gripping mechanism.13. The end effector of claim 12, wherein the actuator is configured topull the actuation connection structure towards a proximal end of theend effector.
 14. The end effector of claim 1, further comprising ahousing, wherein the actuation connection structure, a proximal end ofthe cutting mechanism, and a proximal end of the gripping mechanism arelocated within the housing.
 15. The end effector of claim 9, wherein inresponse to a force from the actuator, the actuation connectionstructure causes the gripping mechanism to grip an appendage of a plant.16. The end effector of claim 15, wherein in response to the force fromthe actuator, the actuation connection structure causes the cuttingmechanism to perform a cut of the appendage, wherein the appendage issplit into a first appendage portion and a second appendage portion,wherein the gripping mechanism is configured to grasp the secondappendage portion.